The Boston Redevelopment Authority approved a 90-unit residential project that will be built in the Ropewalk Complex in the Charlestown Navy Yard.

Between 20 and 30 percent of the units in the 160,000-square-foot complex, which is owned by the BRA, will be designated as affordable. The BRA board extended the designation of Frontier Enterprises Inc. as the project developer.

The $34 million project does not include on-site parking, but the developer will require tenants with cars to document that they lease parking in a garage or off-street location, the BRA ruled.

The BRA’s efforts to develop the building started in 2000, when it advertised for developers to restore the historic structure. Four developers submitted a variety of proposals including offices and lab space, but none of the projects went forward.

Renovation of the property is subject to federal standards because the property is a national landmark. The building housed the nation’s last naval rope-making factory, which closed in 1971.

The developer will provide public benefits include installation of new lighting and streetscraping along the historic "Flirtation Walk" along the southern edge of the building and an interpretive exhibit on ropemaking.

Sousa Design is the project architect.